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You need to install the can_msgs package to your ros workspace.

sudo apt install ros-$ROS_DISTRO-can-msgs

source /opt/ros/$ROS_DISTRO/setup.bash

Make sure to clean up your local ros workspace (i.e. remove build/ install/ log/) before colcon build.

To see all the packages you have installed to your machine:

ls /opt/ros/$ROS_DISTRO/include/ and ls /opt/ros/$ROS_DISTRO/share.

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